Siemens SINAMICS S120, Руководство по эксплуатации функций

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Servo control
4.16 Dynamic Servo Control (DSC)
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
171
If KPC = 0 is transferred, only speed control with the speed precontrol values can be used
(p1430, PROFIdrive N_SOLL_B and p1160 n_set_2). Position-controlled operation requires
a transfer of KPC > 0.
Note
KPC when DSC is activated
After activating dynamic servo control, check the position controller gain KPC in the master.
It may be necessary to correct the setting.
Channel p1155 for speed setpoint 1, as well as channel r1119 for the extended setpoint, are
disconnected when DSC is active.
When DSC is activated, p1160 for speed setpoint 2 and p1430 for the speed precontrol are
added to the speed setpoint from the DSC, see function diagram 3090.
Deactivation
If the interconnection is removed at the connector input for KPC or XERR (p1191 = 0 or
p1190 = 0), the DSC structure is dissolved and the "DSC" function deactivated. The sum
from r1119 and p1155 is then added to the values from p1160 and p1430 from the speed
precontrol.
Since it is possible to set higher gain factors using DSC, the control loop can become
unstable when DSC is disabled. For this reason, before deselecting DSC, the value for KPC
in the master must be reduced.
Speed setpoint filter
A speed setpoint filter for smoothing the speed setpoint steps is not required when DSC is
active.
When using the "DSC" function, it only makes sense to use speed setpoint filter 1 to support
the position controller, e.g. to suppress resonance effects.
External encoder systems (except motor encoder)
If, with DSC active, an external encoder is to be used, this requires the selection of a
telegram with additional actual encoder values: Telegrams 6,106,116,118, 126, 138 or free
telegrams.
For optimum control in the DSC mode, the same encoder(s) (encoder 2 and/or encoder 3)
must be selected for the control (master) and the drive via parameter p1192 "DSC encoder
selection".